Software / API Bindings / Perl / API Reference and Examples / Bricks (Discontinued) / Servo Brick

Perl - Servo Brick¶

This is the description of the Perl API bindings for the Servo Brick. General information and technical specifications for the Servo Brick are summarized in its hardware description.

An installation guide for the Perl API bindings is part of their general description.

Examples¶

The example code below is Public Domain (CC0 1.0).

Configuration¶

Download (example_configuration.pl)

#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickServo;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XXYYZZ'; # Change XXYYZZ to the UID of your Servo Brick

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
my $servo = Tinkerforge::BrickServo->new(&UID, $ipcon); # Create device object

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

# Configure two servos with voltage 5.5V
# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
#          and operating angle -100 to 100°
#
# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
#          to 1.95ms and operating angle -90 to 90°
$servo->set_output_voltage(5500);

$servo->set_degree(0, -10000, 10000);
$servo->set_pulse_width(0, 1000, 2000);
$servo->set_period(0, 19500);
$servo->set_acceleration(0, 1000); # Slow acceleration
$servo->set_velocity(0, 65535); # Full speed

$servo->set_degree(5, -9000, 9000);
$servo->set_pulse_width(5, 950, 1950);
$servo->set_period(5, 20000);
$servo->set_acceleration(5, 65535); # Full acceleration
$servo->set_velocity(5, 65535); # Full speed

$servo->set_position(0, 10000); # Set to most right position
$servo->enable(0);

$servo->set_position(5, -9000); # Set to most left position
$servo->enable(5);

print "Press key to exit\n";
<STDIN>;

$servo->disable(0);
$servo->disable(5);

$ipcon->disconnect();

Callback¶

Download (example_callback.pl)

#!/usr/bin/perl

use strict;
use Tinkerforge::IPConnection;
use Tinkerforge::BrickServo;

use constant HOST => 'localhost';
use constant PORT => 4223;
use constant UID => 'XXYYZZ'; # Change XXYYZZ to the UID of your Servo Brick

my $ipcon = Tinkerforge::IPConnection->new(); # Create IP connection
our $servo = Tinkerforge::BrickServo->new(&UID, $ipcon); # Create device object

# Use position reached callback to swing back and forth
sub cb_position_reached
{
    my ($servo_num, $position) = @_;

    if ($position == 9000)
    {
        print "Position: 90°, going to -90°\n";
        $servo->set_position($servo_num, -9000);
    }
    elsif ($position == -9000)
    {
        print "Position: -90°, going to 90°\n";
        $servo->set_position($servo_num, 9000);
    }
    else
    {
        print "Error\n"; # Can only happen if another program sets position
    }
}

$ipcon->connect(&HOST, &PORT); # Connect to brickd
# Don't use device before ipcon is connected

# Register position reached callback to subroutine cb_position_reached
$servo->register_callback($servo->CALLBACK_POSITION_REACHED, 'cb_position_reached');

# Enable position reached callback
$servo->enable_position_reached_callback();

# Set velocity to 100°/s. This has to be smaller or equal to the
# maximum velocity of the servo you are using, otherwise the position
# reached callback will be called too early
$servo->set_velocity(0, 10000);
$servo->set_position(0, 9000);
$servo->enable(0);

print "Press key to exit\n";
<STDIN>;

$servo->disable(0);

$ipcon->disconnect();

API¶

Generally, every subroutine of the Perl bindings can report an error as Tinkerforge::Error object via croak(). The object has a get_code() and a get_message() subroutine. There are different error code:

Error->ALREADY_CONNECTED = 11
Error->NOT_CONNECTED = 12
Error->CONNECT_FAILED = 13
Error->INVALID_FUNCTION_ID = 21
Error->TIMEOUT = 31
Error->INVALID_PARAMETER = 41
Error->FUNCTION_NOT_SUPPORTED = 42
Error->UNKNOWN_ERROR = 43
Error->STREAM_OUT_OF_SYNC = 51
Error->INVALID_UID = 61
Error->NON_ASCII_CHAR_IN_SECRET = 71
Error->WRONG_DEVICE_TYPE = 81
Error->DEVICE_REPLACED = 82
Error->WRONG_RESPONSE_LENGTH = 83

All functions listed below are thread-safe.

Every function of the Servo Brick API that has a servo_num parameter can address a servo with the servo number (0 to 6). If it is a setter function then multiple servos can be addressed at once with a bitmask for the servos, if the highest bit is set. For example: 1 will address servo 1, (1 << 1) | (1 << 5) | (1 << 7) will address servos 1 and 5, 0xFF will address all seven servos, etc. This allows to set configurations to several servos with one function call. It is guaranteed that the changes will take effect in the same PWM period for all servos you specified in the bitmask.

Basic Functions¶

BrickServo->new($uid, $ipcon)¶

Parameters:	$uid – Type: string $ipcon – Type: IPConnection
Returns:	$servo – Type: BrickServo

Creates an object with the unique device ID $uid:

$servo = BrickServo->new("YOUR_DEVICE_UID", $ipcon);

This object can then be used after the IP Connection is connected.

BrickServo->enable($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255]
Returns:	undef

Enables a servo (0 to 6). If a servo is enabled, the configured position, velocity, acceleration, etc. are applied immediately.

BrickServo->disable($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255]
Returns:	undef

Disables a servo (0 to 6). Disabled servos are not driven at all, i.e. a disabled servo will not hold its position if a load is applied.

BrickServo->is_enabled($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$enabled – Type: bool, Default: 0

Returns true if the specified servo is enabled, false otherwise.

BrickServo->set_position($servo_num, $position)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $position – Type: int, Unit: 1/100 °, Range: ?
Returns:	undef

Sets the position for the specified servo.

The default range of the position is -9000 to 9000, but it can be specified according to your servo with set_degree().

If you want to control a linear servo or RC brushless motor controller or similar with the Servo Brick, you can also define lengths or speeds with set_degree().

BrickServo->get_position($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$position – Type: int, Unit: 1/100 °, Range: ?

Returns the position of the specified servo as set by set_position().

BrickServo->get_current_position($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$position – Type: int, Unit: 1/100 °, Range: ?

Returns the current position of the specified servo. This may not be the value of set_position() if the servo is currently approaching a position goal.

BrickServo->set_velocity($servo_num, $velocity)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1
Returns:	undef

Sets the maximum velocity of the specified servo. The velocity is accelerated according to the value set by set_acceleration().

The minimum velocity is 0 (no movement) and the maximum velocity is 65535. With a value of 65535 the position will be set immediately (no velocity).

BrickServo->get_velocity($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the velocity of the specified servo as set by set_velocity().

BrickServo->get_current_velocity($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$velocity – Type: int, Unit: 1/100 °/s, Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the current velocity of the specified servo. This may not be the value of set_velocity() if the servo is currently approaching a velocity goal.

BrickServo->set_acceleration($servo_num, $acceleration)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $acceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1
Returns:	undef

Sets the acceleration of the specified servo.

The minimum acceleration is 1 and the maximum acceleration is 65535. With a value of 65535 the velocity will be set immediately (no acceleration).

BrickServo->get_acceleration($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$acceleration – Type: int, Unit: 1/100 °/s², Range: [0 to 2¹⁶ - 1], Default: 2¹⁶ - 1

Returns the acceleration for the specified servo as set by set_acceleration().

BrickServo->set_output_voltage($voltage)¶

Parameters:	$voltage – Type: int, Unit: 1 mV, Range: [2000 to 9000], Default: 5000
Returns:	undef

Sets the output voltages with which the servos are driven.

Note

We recommend that you set this value to the maximum voltage that is specified for your servo, most servos achieve their maximum force only with high voltages.

BrickServo->get_output_voltage()¶

Returns:	$voltage – Type: int, Unit: 1 mV, Range: [2000 to 9000], Default: 5000

Returns the output voltage as specified by set_output_voltage().

BrickServo->set_pulse_width($servo_num, $min, $max)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $min – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 1000 $max – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 2000
Returns:	undef

Sets the minimum and maximum pulse width of the specified servo.

Usually, servos are controlled with a PWM, whereby the length of the pulse controls the position of the servo. Every servo has different minimum and maximum pulse widths, these can be specified with this function.

If you have a datasheet for your servo that specifies the minimum and maximum pulse width, you should set the values accordingly. If your servo comes without any datasheet you have to find the values via trial and error.

The minimum must be smaller than the maximum.

BrickServo->get_pulse_width($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Return Array:	0: $min – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 1000 1: $max – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 2000

Returns the minimum and maximum pulse width for the specified servo as set by set_pulse_width().

BrickServo->set_degree($servo_num, $min, $max)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $min – Type: int, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 $max – Type: int, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000
Returns:	undef

Sets the minimum and maximum degree for the specified servo (by default given as °/100).

This only specifies the abstract values between which the minimum and maximum pulse width is scaled. For example: If you specify a pulse width of 1000µs to 2000µs and a degree range of -90° to 90°, a call of set_position() with 0 will result in a pulse width of 1500µs (-90° = 1000µs, 90° = 2000µs, etc.).

Possible usage:

The datasheet of your servo specifies a range of 200° with the middle position at 110°. In this case you can set the minimum to -9000 and the maximum to 11000.
You measure a range of 220° on your servo and you don't have or need a middle position. In this case you can set the minimum to 0 and the maximum to 22000.
You have a linear servo with a drive length of 20cm, In this case you could set the minimum to 0 and the maximum to 20000. Now you can set the Position with set_position() with a resolution of cm/100. Also the velocity will have a resolution of cm/100s and the acceleration will have a resolution of cm/100s².
You don't care about units and just want the highest possible resolution. In this case you should set the minimum to -32767 and the maximum to 32767.
You have a brushless motor with a maximum speed of 10000 rpm and want to control it with a RC brushless motor controller. In this case you can set the minimum to 0 and the maximum to 10000. set_position() now controls the rpm.

The minimum must be smaller than the maximum.

BrickServo->get_degree($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Return Array:	0: $min – Type: int, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: -9000 1: $max – Type: int, Unit: 1/100 °, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 9000

Returns the minimum and maximum degree for the specified servo as set by set_degree().

BrickServo->set_period($servo_num, $period)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6, 128 to 255] $period – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 19500
Returns:	undef

Sets the period of the specified servo.

Usually, servos are controlled with a PWM. Different servos expect PWMs with different periods. Most servos run well with a period of about 20ms.

If your servo comes with a datasheet that specifies a period, you should set it accordingly. If you don't have a datasheet and you have no idea what the correct period is, the default value will most likely work fine.

BrickServo->get_period($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$period – Type: int, Unit: 1 µs, Range: [0 to 2¹⁶ - 1], Default: 19500

Returns the period for the specified servo as set by set_period().

BrickServo->get_servo_current($servo_num)¶

Parameters:	$servo_num – Type: int, Range: [0 to 6]
Returns:	$current – Type: int, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of the specified servo.

BrickServo->get_overall_current()¶

Returns:	$current – Type: int, Unit: 1 mA, Range: [0 to 2¹⁶ - 1]

Returns the current consumption of all servos together.

BrickServo->get_stack_input_voltage()¶

Returns:	$voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the stack input voltage. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

BrickServo->get_external_input_voltage()¶

Returns:	$voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1]

Returns the external input voltage. The external input voltage is given via the black power input connector on the Servo Brick.

If there is an external input voltage and a stack input voltage, the motors will be driven by the external input voltage. If there is only a stack voltage present, the motors will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motors will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage

Advanced Functions¶

BrickServo->set_spitfp_baudrate_config($enable_dynamic_baudrate, $minimum_dynamic_baudrate)¶

Parameters:	$enable_dynamic_baudrate – Type: bool, Default: 1 $minimum_dynamic_baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000
Returns:	undef

The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred.

The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received.

This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed.

In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance.

The maximum value of the baudrate can be set per port with the function set_spitfp_baudrate(). If the dynamic baudrate is disabled, the baudrate as set by set_spitfp_baudrate() will be used statically.

New in version 2.3.4 (Firmware).

BrickServo->get_spitfp_baudrate_config()¶

Return Array:	0: $enable_dynamic_baudrate – Type: bool, Default: 1 1: $minimum_dynamic_baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 400000

Returns the baudrate config, see set_spitfp_baudrate_config().

New in version 2.3.4 (Firmware).

BrickServo->get_send_timeout_count($communication_method)¶

Parameters:	$communication_method – Type: int, Range: See constants
Returns:	$timeout_count – Type: int, Range: [0 to 2³² - 1]

Returns the timeout count for the different communication methods.

The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.

This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0.

The following constants are available for this function:

For $communication_method:

BrickServo->COMMUNICATION_METHOD_NONE = 0
BrickServo->COMMUNICATION_METHOD_USB = 1
BrickServo->COMMUNICATION_METHOD_SPI_STACK = 2
BrickServo->COMMUNICATION_METHOD_CHIBI = 3
BrickServo->COMMUNICATION_METHOD_RS485 = 4
BrickServo->COMMUNICATION_METHOD_WIFI = 5
BrickServo->COMMUNICATION_METHOD_ETHERNET = 6
BrickServo->COMMUNICATION_METHOD_WIFI_V2 = 7

New in version 2.3.2 (Firmware).

BrickServo->set_spitfp_baudrate($bricklet_port, $baudrate)¶

Parameters:	$bricklet_port – Type: char, Range: ['a' to 'b'] $baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000
Returns:	undef

Sets the baudrate for a specific Bricklet port.

If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see get_spitfp_error_count()) you can decrease the baudrate.

If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see set_spitfp_baudrate_config()).

Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate.

New in version 2.3.2 (Firmware).

BrickServo->get_spitfp_baudrate($bricklet_port)¶

Parameters:	$bricklet_port – Type: char, Range: ['a' to 'b']
Returns:	$baudrate – Type: int, Unit: 1 Bd, Range: [400000 to 2000000], Default: 1400000

Returns the baudrate for a given Bricklet port, see set_spitfp_baudrate().

New in version 2.3.2 (Firmware).

BrickServo->get_spitfp_error_count($bricklet_port)¶

Parameters:	$bricklet_port – Type: char, Range: ['a' to 'b']
Return Array:	0: $error_count_ack_checksum – Type: int, Range: [0 to 2³² - 1] 1: $error_count_message_checksum – Type: int, Range: [0 to 2³² - 1] 2: $error_count_frame – Type: int, Range: [0 to 2³² - 1] 3: $error_count_overflow – Type: int, Range: [0 to 2³² - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

ACK checksum errors,
message checksum errors,
framing errors and
overflow errors.

The errors counts are for errors that occur on the Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side.

New in version 2.3.2 (Firmware).

BrickServo->enable_status_led()¶

Returns:	undef

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo->disable_status_led()¶

Returns:	undef

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

BrickServo->is_status_led_enabled()¶

Returns:	$enabled – Type: bool, Default: 1

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

BrickServo->get_chip_temperature()¶

Returns:	$temperature – Type: int, Unit: 1/10 °C, Range: [-2¹⁵ to 2¹⁵ - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.

BrickServo->reset()¶

Returns:	undef

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

BrickServo->get_identity()¶

Return Array:

Return Array:	0: $uid – Type: string, Length: up to 8 1: $connected_uid – Type: string, Length: up to 8 2: $position – Type: char, Range: ['0' to '8'] 3: \@hardware_version – Type: [int, ...], Length: 3 0: $major – Type: int, Range: [0 to 255] 1: $minor – Type: int, Range: [0 to 255] 2: $revision – Type: int, Range: [0 to 255] 4: \@firmware_version – Type: [int, ...], Length: 3 0: $major – Type: int, Range: [0 to 255] 1: $minor – Type: int, Range: [0 to 255] 2: $revision – Type: int, Range: [0 to 255] 5: $device_identifier – Type: int, Range: [0 to 2¹⁶ - 1]

0: $uid – Type: string, Length: up to 8
1: $connected_uid – Type: string, Length: up to 8
2: $position – Type: char, Range: ['0' to '8']
3: \@hardware_version – Type: [int, ...], Length: 3

0: $major – Type: int, Range: [0 to 255]
1: $minor – Type: int, Range: [0 to 255]
2: $revision – Type: int, Range: [0 to 255]

4: \@firmware_version – Type: [int, ...], Length: 3

0: $major – Type: int, Range: [0 to 255]
1: $minor – Type: int, Range: [0 to 255]
2: $revision – Type: int, Range: [0 to 255]

5: $device_identifier – Type: int, Range: [0 to 2¹⁶ - 1]

Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position is the position in the stack from '0' (bottom) to '8' (top).

The device identifier numbers can be found here. There is also a constant for the device identifier of this Brick.

Callback Configuration Functions¶

BrickServo->register_callback($callback_id, $function)¶

Parameters:	$callback_id – Type: int $function – Type: string
Returns:	undef

Registers the given $function name with the given $callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickServo->set_minimum_voltage($voltage)¶

Parameters:	$voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 5000
Returns:	undef

Sets the minimum voltage, below which the CALLBACK_UNDER_VOLTAGE callback is triggered. The minimum possible value that works with the Servo Brick is 5V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

BrickServo->get_minimum_voltage()¶

Returns:	$voltage – Type: int, Unit: 1 mV, Range: [0 to 2¹⁶ - 1], Default: 5000

Returns the minimum voltage as set by set_minimum_voltage()

BrickServo->enable_position_reached_callback()¶

Returns:	undef

Enables the CALLBACK_POSITION_REACHED callback.

Default is disabled.